Another significant issue is the outdated nature of the docs. I truly appreciate the fast-paced nature of AP development, but documentation consistently takes a back seat to feature implementation and improvement, which makes for a frustrating user experience.
As an example, I recently discovered that the Betaflight-oriented frame permutations were not included in the documentation and did a little image editing to fix that, but noticed in the process that there are quite a few frames missing from the page. I thought it’d be an interesting challenge to fix that while helping improve the motor/ESC doc overall and am happy to help with such things occasionally, but there’s probably a better way to document new/added features than relying on users to notice they are missing.
The Lua scripting page is another sorely outdated doc that presently only references a small subset of the available bindings with only a cursory mention of how to see what else is available, and users are left to scour the examples folder to see any given undocumented binding in use. Credit where it’s due - the provided examples tend to keep pace with new bindings, and that’s an excellent start. It may well be possible to use the annotations in ardupilot/docs.lua to auto-generate some wiki documentation and maybe even link to the examples in which a given binding can be found. That way a dev could add a binding and its associated annotation (some of which are lacking) and never worry about a wiki update.